The invention provides a trajectory prediction method and device, electronic equipment and a vehicle. The trajectory prediction method is applied to the trailer with a tractor, and comprises the following steps: enabling multiple axles of the trailer to be equivalent to an equivalent single axle; a plurality of shafts of the trailer are used for rotating and cannot swing; additional torque generated by the equivalent single shaft and the dynamic attribute of the rotary motion of the trailer are obtained; determining the state of the tractor and the state of the trailer at the current moment based on the additional moment, the dynamic attribute of the rotary motion and the kinematics attribute of an equivalent single shaft of the tractor; and based on the association relationship between the state of the current moment and the state of the next moment, using the states of the tractor and the trailer at the current moment to obtain predicted trajectories of the motion of the tractor and the trailer at the next moment.
本申请提供一种轨迹预测方法、装置、电子设备及车辆。其中,该轨迹预测方法,应用于带有牵引车的挂车,包括:将挂车的多轴等效为等效单轴;所述挂车的多轴用于转动且不能摆动;获取所述等效单轴产生的附加力矩,以及挂车的旋转运动的动力学属性;基于所述附加力矩、所述旋转运动的动力学属性及所述牵引车的等效单轴的运动学属性,确定所述牵引车及所述挂车当前时刻的状态;以及,基于所述当前时刻的状态与下一时刻的状态之间的关联关系,使用所述牵引车及所述挂车当前时刻的状态,得到所述牵引车和所述挂车所述下一个时刻运动的预测轨迹。
Trajectory prediction method and device, electronic equipment and vehicle
轨迹预测方法、装置、电子设备及车辆
22.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge |
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